Visual servoing and robust object manipulation using symmetries and Conformai Geometric Algebra

Author

Carbajal-Espinosa, O. ; Osuna-Gonzalez, G. ; Gonzalez-Jimenez, L. ; Loukianov, A. ; Bayro Corrochano, E.

Author_Institution

Dept. of Electr. Eng. & Comput. Sci., CINVESTAV, Guadalajara, Spain

fYear

2014

fDate

18-20 Nov. 2014

Firstpage

1051

Lastpage

1056

Abstract

Object tracking and manipulation is an important process for many applications in robotics and computer vision. A novel 3D pose estimation of objects using reflectionally symmetry formulated in Conformai Geometric Algebra (CGA) is proposed in this work. The synthesis of the kinematics model for robots and a sliding mode controller using the CGA approach is described. Real time implementation results are presented for the pose estimation of object using a stereo vision system.

Keywords

algebra; computational geometry; object tracking; pose estimation; robot kinematics; robot vision; stereo image processing; variable structure systems; visual servoing; 3D object pose estimation; CGA; computer vision; conformal geometric algebra; object tracking; reflectionally symmetry; robot kinematics model; robust object manipulation; sliding mode controller; stereo vision system; visual servoing; Cameras; Kinematics; Manipulators; Three-dimensional displays; Vectors;

fLanguage

English

Publisher

ieee

Conference_Titel

Humanoid Robots (Humanoids), 2014 14th IEEE-RAS International Conference on

Conference_Location

Madrid

Type

conf

DOI

10.1109/HUMANOIDS.2014.7041494

Filename

7041494